Optimizing the Gains of PD controller Using Artificial Bee Colony for Controlling the Rigid Gantry Crane System

Edwar Yazid


Control position and reduction of swinging of the payload of a rigid gantry crane system is a challenging work because of under-actuated system. This paper addresses challenges by proposing the artificial bee colony (ABC) algorithm to optimize the gains of the PD controller to form what the so-called the artificial bee colony (ABC)-PD controller. The effectiveness of the proposed control algorithm is tested under constant step functions and compared with Ziegler-Nichols (ZN)-PD controller. The results show that the proposed controller produces slower rise time and peak time, but faster settling time than the ZN-PD controller as well as no overshoot under the predefined trajectories.   

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DOI: http://dx.doi.org/10.14203/j.inkom.527


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